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. Author manuscript; available in PMC: 2018 Sep 1.
Published in final edited form as: Int J Med Robot. 2016 Sep 21;13(3):10.1002/rcs.1773. doi: 10.1002/rcs.1773

FIGURE 2.

FIGURE 2

(A) An illustration of a segmented volume, with critical structures and a volume to be milled. (B) The same volume superimposed with safety margins. (C) The final result after the intersection of the safety margins and the volume to be milled has been removed from the volume to be milled. This reduced volume to be milled may now be milled with statistical assurance that the protected structures are safe from registration error